version: 66.11
glider: 187
mission: 2
dive: 694
start: 3 14 113 20 36 10
data:
$ID,187
$MISSION,2
$DIVE,694
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031000001
$HD_B,0.0093
$HD_C,4.5000001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1588913
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.06522
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,140313,202834,4733.956,-12543.116,38,1.4,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-73.1
$GPS2,140313,203537,4734.021,-12543.127,15,1.6,15,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,233.4,115747,-13.3,-7.021,-18.50
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,106,0.00,0.00,-86.88,0.000,2,0.000,0.000,110,2187,2698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.47,-136.3,3.4,-4.0,15,143,11.77,2.28,-15.23,0.000,4,0.216,0.063,3036,798,3352,0,0,0,0,0,0,24.44,25.37,26.25
$GC,234,-0.47,-136.3,23.3,-13.9,37,241,0.00,2.22,0.00,0.000,6,0.000,0.051,3028,2204,3353,0,0,0,0,0,0,28.83,25.37,28.83
$GC,548,-0.47,-136.3,71.5,-15.8,98,555,0.00,2.20,0.00,0.000,4,0.000,0.050,3028,796,3353,0,0,0,0,0,0,28.83,25.40,28.83
$GC,593,-0.47,-136.3,78.4,-13.4,106,600,0.00,2.20,0.00,0.000,6,0.000,0.051,3018,2199,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,906,-0.47,-136.3,119.8,-12.1,167,913,0.00,2.25,0.00,0.000,4,0.000,0.062,3007,3608,3353,0,0,0,0,0,0,28.83,25.27,28.83
$GC,932,-0.47,-136.3,122.9,-12.0,170,941,0.10,2.22,0.00,0.000,6,0.103,0.043,3044,2194,3354,0,0,0,0,0,0,25.35,25.60,28.83
$GC,1244,-0.47,-136.3,151.2,-7.8,191,1251,0.00,2.17,0.00,0.000,4,0.000,0.050,3044,795,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1291,-0.47,-136.3,155.3,-8.2,196,1300,0.00,2.28,0.00,0.000,6,0.000,0.050,3037,2202,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1601,-0.47,-136.3,180.2,-7.9,217,1610,0.00,2.35,0.00,0.000,4,0.000,0.062,3026,3618,3354,0,0,0,0,0,0,28.83,25.26,28.83
$GC,1661,-0.47,-136.3,185.3,-8.6,223,1670,0.00,2.28,0.00,0.000,6,0.000,0.043,3026,2190,3354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1982,-0.47,-136.3,217.2,-10.8,242,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2190,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2281,-0.47,-136.3,248.4,-10.0,257,2287,0.00,2.22,0.00,0.000,4,0.000,0.050,3026,802,3354,0,0,0,0,0,0,28.83,25.40,28.83
$GC,2310,-0.47,-136.3,250.5,-10.2,258,2314,0.00,2.28,0.00,0.000,6,0.000,0.050,3017,2210,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2611,-0.47,-136.3,280.8,-8.9,273,2617,0.00,2.33,0.00,0.000,4,0.000,0.062,3007,3611,3354,0,0,0,0,0,0,28.83,25.22,28.83
$GC,2691,-0.47,-136.3,287.4,-8.1,277,2698,0.12,2.25,0.00,0.000,6,0.129,0.043,3043,2203,3354,0,0,0,0,0,0,25.41,25.59,28.83
$GC,3014,-0.47,-136.3,305.9,-6.4,293,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3311,-0.47,-136.3,329.7,-8.3,308,3317,0.00,2.35,0.00,0.000,4,0.000,0.063,3035,3606,3354,0,0,0,0,0,0,28.83,25.20,28.83
$GC,3351,-0.47,-136.3,333.1,-8.3,310,3357,0.00,2.25,0.00,0.000,6,0.000,0.044,3035,2188,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3673,-0.47,-136.3,358.1,-7.3,326,3677,0.00,2.33,0.00,0.000,4,0.000,0.063,3025,3615,3354,0,0,0,0,0,0,28.83,25.19,28.83
$GC,3699,-0.47,-136.3,359.6,-7.3,327,3703,0.00,2.28,0.00,0.000,6,0.000,0.044,3025,2197,3354,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4001,-0.47,-136.3,384.8,-8.2,342,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2195,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4322,-0.47,-136.3,410.7,-8.0,356,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2195,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4621,-0.47,-136.3,432.7,-7.5,366,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2195,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4921,-0.47,-136.3,458.6,-8.9,376,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2195,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5222,-0.47,-136.3,482.5,-7.8,386,5227,0.00,2.35,0.00,0.000,4,0.000,0.064,3015,3602,3353,0,0,0,0,0,0,28.83,25.14,28.83
$GC,5289,-0.47,-136.3,487.3,-7.9,388,5293,0.00,2.25,0.00,0.000,6,0.000,0.045,3015,2203,3353,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5601,-0.47,-136.3,513.7,-8.6,399,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2201,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5901,-0.47,-136.3,538.9,-8.4,409,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2200,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6202,-0.47,-136.3,564.8,-8.6,419,6207,0.00,2.35,0.00,0.000,4,0.000,0.065,3006,3603,3352,0,0,0,0,0,0,28.83,25.12,28.83
$GC,6249,-0.47,-136.3,567.5,-8.7,420,6254,0.12,2.28,0.00,0.000,6,0.128,0.046,3044,2194,3352,0,0,0,0,0,0,25.33,25.50,28.83
$GC,6552,-0.47,-136.3,589.3,-6.7,430,6557,0.00,2.38,0.00,0.000,4,0.000,0.065,3035,3605,3351,0,0,0,0,0,0,28.83,25.09,28.83
$GC,6601,-0.47,-136.3,591.4,-6.7,431,6610,0.00,2.28,0.00,0.000,6,0.000,0.046,3034,2195,3351,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6912,-0.47,-136.3,614.9,-6.9,442,6917,0.00,2.38,0.00,0.000,4,0.000,0.066,3025,3610,3351,0,0,0,0,0,0,28.83,25.08,28.83
$GC,6950,-0.47,-136.3,616.9,-6.8,443,6954,0.00,2.28,0.00,0.000,6,0.000,0.046,3025,2204,3351,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7263,-0.47,-136.3,638.9,-7.1,454,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2202,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7562,-0.47,-136.3,658.9,-6.3,464,7568,0.00,2.38,0.00,0.000,4,0.000,0.066,3015,3609,3350,0,0,0,0,0,0,28.83,25.07,28.83
$GC,7593,-0.47,-136.3,660.8,-6.2,465,7598,0.00,2.28,0.00,0.000,6,0.000,0.047,3015,2196,3350,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7923,-0.47,-136.3,680.7,-6.2,476,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2195,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8222,-0.47,-136.3,702.7,-7.9,486,8228,0.00,2.38,0.00,0.000,4,0.000,0.065,3006,3607,3349,0,0,0,0,0,0,28.83,25.05,28.83
$GC,8282,-0.47,-136.3,708.1,-8.4,488,8289,0.12,2.28,0.00,0.000,6,0.125,0.047,3042,2199,3348,0,0,0,0,0,0,25.29,25.46,28.83
$GC,8613,-0.47,-136.3,731.0,-6.8,499,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2197,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8912,-0.47,-136.3,750.7,-6.2,509,8918,0.00,2.38,0.00,0.000,4,0.000,0.067,3034,3604,3348,0,0,0,0,0,0,28.83,25.02,28.83
$GC,8950,-0.47,-136.3,752.5,-6.1,510,8954,0.00,2.28,0.00,0.000,6,0.000,0.047,3034,2199,3348,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9264,-0.47,-136.3,770.6,-5.3,521,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2198,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9563,-0.47,-136.3,784.2,-4.2,531,9564,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2198,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9863,-0.47,-136.3,795.9,-4.0,541,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2198,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10163,-0.47,-136.3,808.4,-4.2,551,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2198,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10464,-0.47,-136.3,822.0,-4.7,561,10468,0.00,2.38,0.00,0.000,4,0.000,0.067,3025,3603,3347,0,0,0,0,0,0,28.83,24.98,28.83
$GC,10511,-0.47,-136.3,823.8,-5.0,562,10515,0.00,2.28,0.00,0.000,6,0.000,0.047,3025,2202,3347,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10813,-0.47,-136.3,843.7,-6.5,572,10814,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11114,-0.47,-136.3,863.4,-6.5,582,11118,0.00,2.38,0.00,0.000,4,0.000,0.067,3016,3605,3346,0,0,0,0,0,0,28.83,24.96,28.83
$GC,11143,-0.47,-136.3,865.3,-6.6,583,11148,0.00,2.28,0.00,0.000,6,0.000,0.047,3016,2192,3346,0,0,0,0,0,0,28.83,25.39,28.83
$GC,11473,-0.47,-136.3,887.2,-6.2,594,11478,0.00,2.38,0.00,0.000,4,0.000,0.067,3014,3601,3346,0,0,0,0,0,0,28.83,24.96,28.83
$GC,11512,-0.47,-136.3,889.1,-6.2,595,11518,0.00,2.28,0.00,0.000,6,0.000,0.047,3014,2198,3346,0,0,0,0,0,0,28.83,25.39,28.83
$GC,11833,-0.47,-136.3,908.8,-6.0,606,11834,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2196,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12133,-0.47,-136.3,927.9,-6.5,616,12138,0.00,2.38,0.00,0.000,4,0.000,0.067,3004,3607,3346,0,0,0,0,0,0,28.83,24.94,28.83
$GC,12172,-0.47,-136.3,930.0,-6.6,617,12178,0.15,2.30,0.00,0.000,6,0.115,0.048,3048,2195,3346,0,0,0,0,0,0,25.20,25.37,28.83
$GC,12493,-0.47,-136.3,947.4,-5.3,628,12494,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2194,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12793,-0.47,-136.3,962.4,-4.8,638,12798,0.00,2.38,0.00,0.000,4,0.000,0.068,3041,3601,3344,0,0,0,0,0,0,28.83,24.91,28.83
$GC,12832,-0.47,-136.3,964.0,-4.8,639,12838,0.00,2.30,0.00,0.000,6,0.000,0.049,3041,2191,3344,0,0,0,0,0,0,28.83,25.36,28.83
$GC,13153,-0.47,-136.3,980.2,-4.9,650,13154,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2191,3344,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13360,begin apogee
$GC,13367,-0.22,0.0,990.8,-5.0,657,13498,0.22,0.00,126.40,1.157,6,0.111,0.000,3121,2332,2794,0,0,0,0,0,0,25.63,28.83,22.43
$STATE,13499,end apogee,CONTROL_FINISHED_OK
$STATE,13499,begin climb
$GC,13503,0.47,136.3,994.4,0.0,661,13645,0.68,2.60,134.62,1.122,4,0.071,0.067,3350,3733,2237,0,0,0,0,0,0,24.41,23.44,21.72
$GC,13694,0.48,147.2,986.3,6.6,668,13713,0.00,2.40,11.50,0.988,6,0.000,0.048,3361,2337,2193,0,0,0,0,0,0,28.83,24.23,22.27
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$STATE,25975,end climb,SURFACE_DEPTH_REACHED
$STATE,25975,begin surface coast
$FINISH,1.3,1.025169
$STATE,26006,end surface coast,CONTROL_FINISHED_OK
$STATE,26006,begin surface
$SM_CCo,26086,0.00,0.000,0,0,848,477.35
$SM_GC,2.30,8.43,0.22,0.00,0.028,0.069,0.000,119,2183,848,-9.47,0.71,477.35,0,0,0,0,0,0,25.91,25.99,28.83
$IRIDIUM_FIX,4719.74,-12544.51,140313,131353
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.34
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,18.80
$XPDR_PINGS,4
$24V_AH,21.7,97.604
$10V_AH,9.7,73.895
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.375,199.600,559.675,0.000,0.000,26.514,35.410,210.375,1.000,0.000,15.933,3474.164,19282.135,844.730,2417.484,482.534,0.000,2067.710,0.000,2129.749,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,918.845,661.861,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296908
$DATA_FILE_SIZE,73389,1335
$CAP_FILE_SIZE,193017,0
$CFSIZE,260165632,199192576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092, 84.1,1
$GPS,150313,035206,4732.789,-12547.638,31,1.1,31,18.7